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A computer simulation of vehicle and actuator dynamics for a hexapod walking robot


Published June 1994
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Thesis advisor(s): Robert B. McGhee

"March 1994."

Thesis (M.S. in Computer Science) Naval Postgraduate School, March 1994

Bibliography: p. 156-157

Underwater walking machines offer a potential for replacement of human divers in certain aspects of underwater construction and inspection. One such vehicle, Aquarobot, is currently under test in Japan. However, this vehicle is currently too slow to be economically utilized, and limited hardware availability restricts progress in control software improvements. A software dynamic simulation model is desirable to relieve this restricted access. The problem addressed by this research is the modeling of system dynamics of underwater walking vehicles with sufficient simplification to achieve a real- time simulation. The approach taken includes an object-oriented, massless leg robot dynamic model and employs a high performance graphics rendering toolkit. The resulting simulations of a robotic joint actuator and of the robot itself, utilizing springs and dampers in the joints, runs in real-time. The robot simulation model executes on a four-processor machine with under fifteen percent utilization of the processor dedicated to system dynamics. This result indicates that the simulation is likely to retain real-time capability after replacing the springs and dampers with the more accurate joint actuator model also developed in this thesis

Mode of access: World Wide Web

System requirements: Adobe Acrobat Reader

US Navy (USN) author


Publisher Monterey, California: Naval Postgraduate School;Springfield, Va.: Available from National Technical Information Service
Pages 178
Language en_US
Call number ocn640610707
Digitizing sponsor Naval Postgraduate School, Dudley Knox Library
Book contributor Naval Postgraduate School, Dudley Knox Library
Collection navalpostgraduateschoollibrary; fedlink; americana

Full catalog record MARCXML

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